Model 730

MagLev Apparatus
Fact Sheet

Educational Control Products

High Flux Drive Coils

Top & bottom

Rare Earth Magnets

NbFeB, one or two at a time for SISO or MIMO

Laser Feedback Sensors

Top & bottom

Laser Conditioning Electronics

Provides high resolution position measurement

Low Friction Guide

Precision ground & polished glass

Magnet Storage
Safely stows high strength magnets

ECP's unique MagLev apparatus dramatically demonstrates closed loop levitation of permanent and ferromagnetic elements. The apparatus includes laser feedback and high flux magnetics to affect large displacements and provide visually stimulating tracking and regulation demonstrations. The system is quickly set up in the open loop stable and unAttachment For Turntable stable (repulsive and attractive fields) Optional, demonstrates induced field levitation configurations shown. By adding a second magnet and driving both actuators, MIMO control is studied. The inherent magnetic field nonlinearities may be inverted via provided real-time algorithms for linear control study or the full system dynamics may be examined. Disturbances may be introduced via the second drive coil for demonstrating system regulation in SISO operation. An optional turntable accessory provides graphic demonstration of induced field levitation - the principal used in high speed bullet trains! Provides A Variety Of SISO & MIMO, Stable & Unstable Plant Configurations
Ic Ic 2
N S N S

Coil #2 (c2)

Ic 2 y2 y1
m2 m1

S N

y
Configuration

N S

y2

m2 m1

N S S N N S

g
Coil #1 (c1)

S N S N N S

Ic

S N

F1m c
g

N S

F2m c

y Ic1 1

Ic1

Repulsive Levitation Open Loop Stable

Attractive Levitation Open Loop Unstable

MIMO Levitation, Locally Open Loop Stable

MIMO Levitation, Open Loop Unstable

Equations of Motion Linearized Forms

(about some coil current / gravity equilibrium)

my + cy = F1m - mg c
("c" is very small friction modeled as viscous)

my + cy = F2m - mg c

m1 y 1 +cy 1 = F1 m1+ F 1m 2+ F2 m 1+ m1g c m c m2 y 2 +cy 2 = F1 m2+ F 1m 2+ F 2m 2+ m2g c m c

' m1y1' + cy1 + (k1+k2-k3)y1' - k2 y2' = kF11Ic' 1 kF21Ic' 2 +

m1 y 1 +cy 1 = F1 m- F 1m 2+ F2 m 1+ m1g c 1 m c m2 y 2 +cy 2 = F1 m- F 1m 2+ F 2m 2+ m2g c 2 m c

m1 y1' + cy1' + (k1- k2-k 3)y '1+ k 2y2' = kF11Ic'+ kF21Ic'2 1 m2 y2' + cy2' - (k2+ k4- k5)y2'+ k2y1' = kF12Ic'+ kF22Ic'2 1
Stable k1 (k2+ k3) and k5 (k2+ k4)
11 12

my ' + cy ' + ky ' = kF Ic'

my ' + cy ' - ky ' = kF Ic'

' ' ' m2y2' + cy2 + (k2- k4+k5)y2 - k2y1 = kF12Ic' 1 kF22Ic' 2 + Stable (k1+k2) k3 and (k2+k5) k4

Transfer Function
(selected linearized plant)

kF Y = I 'c ms 2 +cs +k Fc1m = k cm Ic , (y + d) Ncm

TF of above left stable system

ms 2+cs +(k1+k2- k3) 1 -k 2 Fc1m1 =

Y1 k k = F F kF k F m2s +cs +(k 2+k 5-k4) Y2

2
21

-k 2

22

I1 I2

TF of above left system; stability assumed

Notation

F2m = c

k cm Ic (d- y) Ncm

"'"denotes value relative to some equilibrium pt. kcm, d, & Ncm are positive constants, (Ncm 4 )

kcm Ic 1 k mm Fm1m2 = Fc2 m1 = kcm I 2 (y1-y2+dm1m2)Nmm (y1+dc1 m1) Ncm (y1 +dc2m1)Ncm Notation similar to that Fc1m2 = -k cm Ic1 Fc2 m2 = -k cm Ic2 for SISO (Nmm 4 ) (y2 - dc m )Ncm (y2 - dc m )Ncm
1 2 2 2

Advanced System Features, Time-saving Benefits

Rare earth magnets with ultra high flux density produce large levitation heights for graphic trajectory tracking demonstrations Precision non-contacting laser sensors provide feedback over large range of motion without introducing friction System may be operated over limited range to demonstrate linear system dynamics, or over large range to show inherent high nonlinearity (inverse fourth order with position) Magnets are easily added and removed to provide MIMO or SISO plants that are open loop stable or unstable Adjustable scale for mechanical height reference and dual color LED for bipolar coil current indication promote visualization of system states (available in real-time data) Durable plate and bar aluminum construction (guide rod is fracture resistant Pyrex), and ruggedized industrial grade electronics assure highly reliable operation Step-by-step instructions, intuitive interface software, and detailed experiments with solutions assure productive use of laboratory time. Safety features such as amplifier thermal dissipation limit, overcurrent shutdown, and magnet overspeed protection assure equipment durability and a safe operating environment Bench top sized with quick connect cabling for easy transportability and reconnection to rest of system

Thought-provoking Experiments
The MagLev system is furnished with a range of experiments that graphically demonstrate important theoretical principles and applied control implementation. All experiments include detailed student procedures, supplementary exercises, and complete instructor solutions. Also provided are plant dynamic models, Matlab scripts for analysis and simulation, and optional exercises to taylor course content. Initial tests perform system identification to quantify the plant parameters and measure the strong nonlinearities. Early experiments demonstrate application of simple linear closed loop control to stabilize and regulate the closed loop system about some setpoint. It is shown that for the open loop stable plant, (see front page) the system is stabilizable for all positive gains but that for the unstable plant a minimum gain (bandwidth) is necessary for closed loop stability. Further tests vividly show the effect of the nonlinear dynamics on closed loop tracking control (see upper plots). By inverting these dynamics, rapid and precise tracking control is demonstrated. MIMO experiments are included that demonstrate a range of design approaches including LQR, pole placement, and loop shaping methodologies. The system is tested (lower plots) with the two magnets controlled independently which produces much cross coupling in their motion. By implementing a full multivariable control law, effective and uncoupled control is accomplished. Other exciting experiments including disturbance rejection and induced field levitation using the optional turntable are provided.

Nonlinear Plant Compensation A simple closed loop linear controller reveals the strong plant nonlinearity which manifests as a low gain step response in the forward direction (underdamped, large s.s. error) and high gain response going negative. The control authority vs. position nonlinearity is addressed via sensed position/control effort compensation to yield the well behaved bipolar step response at right.

Multi-variable control The plant is configured for 2 inputs and 2 outputs. In the first series, the
system is controlled as two independent SISO systems and driven with repeated ramp and impulse inputs. Cross coupling due to magnetic interaction is clearly seen in both outputs. Full multivariable methodology is employed in the second case (right) to effectively control each magnet independent of the other's motion.

Turn-key Systems* for Easy Setup & Operation

Quality Components Provide High System Performance

Range of Motion Magnets Sensors Drive Coils Drive Amplifiers Size & Weight Turntable Accessory Accessory Sensor & Actuator Accessory Size & Weight 15 cm total. 6 cm indefinitely 10 cm momentarily ea. actuator Very high flux, rare earth NdFeB, with laser reflective coating Laser light amplitude with low noise, stray light rejection circuitry Low inductance, high field constant, air core Linear range 40V out, 500 Hz current loop bandwidth 36x36x30 cm. (14x14x12 in.), 5.1 kg. (11 lb.) Dynamically balanced spin platter, 0-500 RPM Optical encoder, 12,000 counts/rev. Rare earth, servo motor 38x38x15 cm. (15x15x6in.), 4.3 kg. (9.5 lb.)

The MagLev system comes complete with all the hardware & software you need to efficiently perform a broad range of control experiments. Setup requires only three simple steps: 1) Install DSP Board in standard PC slot, 2) Load software, 3) Plug in cables and begin. You can easily operate the system in minutes and perform meaningful experiments the very first hour!
* "Plant Only" option available without DSP board & I/F software

Contact us For More Information

E-mail: Info@ ecpsystems.com Ph: (818) 703-0802 Fax: (818) 703-6040

1-800-486-0840
Toll-free in the US & Canada

www.ecpsystems.com

Educational Control Products 5725 Ostin Avenue Woodland Hills, CA 91367